3D laser scanning algorithm with humanoid-eye function

Chen Weihai Song Weiyang Rong Lixia Liu Jingmeng(School of Automation Science and Electrical Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)

Aiming at the scanning efficiency of three dimensional(3D) laser scanning system for mobile robot all over the world,a humanoid-eye 3D laser scanning algorithm was proposed.Imitating the scanning function of human eyes from bionics,this algorithm divides the scanning process into two steps: according to the scanning information currently,the scanning scheme of the next step will be planned to reduce the gain of useless information;Through adopting the stepping interpolation location to fetch up the time consuming from stepping scan,the efficiency of the scan can be improved.To satisfy the real-time requirement for the online computing,a hardware architecture consisting of digital signal processing(DSP) and field-programmable gate array(FPGA) was proposed.Therefore,as the main controller,DSP can obtain 3D laser data;as the coprocessor,FPGA can complete the scanning algorithm.The experiment result shows the humanoid-eye scanning algorithm can improve the efficiency of the 3D scanning system greatly.

Zeng Shuyan Zhang Guangjun Li Xiuzhi(School of Instrument Science and Opto-electronics Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100083,China);Image target distinguish based on Gabor filters[J];Journal of Beijing University of Aeronautics and Astronautics;2006-08

KONG Hua-feng1,2,LU Hong-wei1,FENG Yue1(1.School of Computer Science and Technology,Huazhong University of Science and Technology,Wuhan 430074;2.Institute of Pattern Recognition and Artificial Intelligence,Huazhong University of Science and Technology,Wuhan 430074);3D Face Recognition Algorithm Based on 2D Gabor Wavelet Feature[J];Computer Engineering;2008-17